| 基于模糊控制的除草机器人自主导航 |
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| 引用本文： | 郭伟斌,陈勇.基于模糊控制的除草机器人自主导航[J].机器人,2010,32(2):1. |
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| 作者姓名： | 郭伟斌 陈勇 |
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| 作者单位： | 1. 南京林业大学机械电子工程学院,江苏,南京,210037;中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049
2. 南京林业大学机械电子工程学院,江苏,南京,210037 |
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| 基金项目： | 江苏省科学技术厅国际科技合作项目(BZ2005044);;教育部留学人员科技活动项目 |
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| 摘 要： | 研究了基于机器视觉导航的田间自主移动除草机器人．采用模糊控制方法引导除草机器人沿着农作物
行自动行走．根据导航角和导航距的参数特性选择了隶属函数，建立了两种控制规则库，并探讨了两种控制效果．
试验表明，模糊控制方法能够使机器人平稳运动．在直行阶段，控制规则1 有较高的控制精度．控制规则2 能使机
器人更好地通过弯道，对42.2± 的弯道，机器人的行走准确率达到74.58%．
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| 关 键 词： | 除草机器人 视觉导航 模糊控制 算法设计 |
Fuzzy Control Based Autonomous Navigation for a Weeding Robot |
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| GUO Weibin,CHEN Yong.Fuzzy Control Based Autonomous Navigation for a Weeding Robot[J].Robot,2010,32(2):1. |
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| Authors: | GUO Weibin CHEN Yong |
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| Affiliation: | 1. College of Mechanical and Electronic Engineering;Nanjing Forestry University;Nanjing 210037;China;2. State Key Laboratory of Robotics;Shenyang Institute of Automation;Chinese Academy of Sciences;Shenyang 110016;3. Graduate School of the Chinese Academy of Sciences;Beijing 100049;China |
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| Abstract: | A machine vision navigation based autonomous weeding robot in the agricultural fields is developed. Fuzzy control is employed to guide the robot to move along the crop line. Membership functions are chosen according to the properties of navigation angle and navigation distance. Two control rule banks are constructed and their control results are discussed. Experiments show that the fuzzy control could make the robot move steadily. The rule 1 makes the robot move accurately along a straight line. The rule 2 ... |
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| Keywords: | weeding robot vision navigation fuzzy control algorithm design |
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